Galil Motion Control RIO-47 seriesRIO-47100 User manual

USER MANUAL
RIO-47xxx
Manual Rev. 1.0r
Galil Motion Control, In .
270 Te hnology Way
Ro klin, California
916.626.0101
support@galilm . om
galil. om
04/2016

Contents
CONTENTS .............................................................................................................................................................................................. 2
CHAPTER 1 OVERVIEW ........................................................................................................................................................................... 4
INTRODUCTION ................................................................................................................................................................................................ 4
PART NUMBERING OVERVIEW ............................................................................................................................................................................ 5
STANDARD VS. EXPANDED MEMORY .................................................................................................................................................................... 8
RIO FUNCTIONAL ELEMENTS .............................................................................................................................................................................. 9
CHAPTER 2 GETTING STARTED ............................................................................................................................................................. 11
LAYOUT ....................................................................................................................................................................................................... 11
INSTALLING THE RIO BOARD ............................................................................................................................................................................ 14
CHAPTER 3 COMMUNICATION ............................................................................................................................................................. 18
INTRODUCTION .............................................................................................................................................................................................. 18
RS232 PORT ............................................................................................................................................................................................... 18
ETHERNET CONFIGURATION .............................................................................................................................................................................. 18
MODBUS ..................................................................................................................................................................................................... 23
DATA RECORD .............................................................................................................................................................................................. 38
CHAPTER 4 I/O ..................................................................................................................................................................................... 41
INTRODUCTION .............................................................................................................................................................................................. 41
SPECIFICATIONS ............................................................................................................................................................................................. 41
CHAPTER 5 PROGRAMMING ................................................................................................................................................................ 55
OVERVIEW ................................................................................................................................................................................................... 55
EDITING PROGRAMS ....................................................................................................................................................................................... 55
PROGRAM FORMAT ........................................................................................................................................................................................ 55
EXECUTING PROGRAMS - MULTITASKING ............................................................................................................................................................. 58
DEBUGGING PROGRAMS .................................................................................................................................................................................. 58
PROGRAM FLOW COMMANDS .......................................................................................................................................................................... 60
MATHEMATICAL AND FUNCTIONAL EXPRESSIONS ................................................................................................................................................... 68
VARIABLES ................................................................................................................................................................................................... 70
OPERANDS ................................................................................................................................................................................................... 71
ARRAYS ....................................................................................................................................................................................................... 72
OUTPUT OF DATA (NUMERIC AND STRING) ......................................................................................................................................................... 74
PROGRAMMABLE I/O ..................................................................................................................................................................................... 77
REAL TIME CLOCK .......................................................................................................................................................................................... 81
APPENDI ............................................................................................................................................................................................. 82
ELECTRICAL SPECIFICATIONS .............................................................................................................................................................................. 82
CERTIFICATIONS ............................................................................................................................................................................................. 83
ORDERING OPTIONS ....................................................................................................................................................................................... 83
CONNECTORS FOR RIO-47XXX ......................................................................................................................................................................... 95
JUMPER DESCRIPTIONS .................................................................................................................................................................................. 100

RIO DIMENSIONS ........................................................................................................................................................................................ 102
ACCESSORIES .............................................................................................................................................................................................. 104
LIST OF OTHER PUBLICATIONS ......................................................................................................................................................................... 105
CONTACTING US .......................................................................................................................................................................................... 105
TRAINING SEMINARS ..................................................................................................................................................................................... 106
WARRANTY ............................................................................................................................................................................................ 107
A1 – SCB-48206 .................................................................................................................................................................................. 108
DESCRIPTION .............................................................................................................................................................................................. 108
SPECIFICATIONS ........................................................................................................................................................................................... 109
WIRING ..................................................................................................................................................................................................... 109
DIMENSIONS ............................................................................................................................................................................................... 109
OPERATION ................................................................................................................................................................................................ 110
A2 – SCB-48306/48316 ....................................................................................................................................................................... 113
DESCRIPTION .............................................................................................................................................................................................. 113
SPECIFICATIONS ........................................................................................................................................................................................... 114
WIRING ..................................................................................................................................................................................................... 114
OPERATION ................................................................................................................................................................................................ 115
A3 - POWER SUPPLIES ........................................................................................................................................................................ 116

Chapter 1 Overview
Introduction
Derived from the same fundamentals used in building Galil motion ontrollers, the RIO-47xxx is a
programmable remote I/O ontroller that onveniently interfa es with other Galil boards through its
Ethernet port. The RIO is programmed exa tly the same way as a DMC (Digital Motion Controller) with
the ex eption of a few revised ommands and the removal of all motion-related ommands.
Communi ation with the RIO even works the same way as with other Galil ontrollers, and it utilizes the
same software programs. Interrogation ommands have been in luded to allow a user to instantly view
the entire I/O status, I/O hardware, or Ethernet handle availability (see the TZ, ID and TH ommands).
The purpose of an RIO board is to offer remote I/O for a system and to provide the ability to syn hronize
omplex events. To do this, the RIO onsists of two boards – a high speed pro essor with integrated
Ethernet and an I/O board onsisting of digital inputs, digital outputs, analog inputs and analog outputs. If
different I/O requirements are required –a ustom I/O board an be made to mate up dire tly with the
RIO pro essor.
Chapter 1 Overview ▫ 4 RIO-47xxx Rev. 1.0r

Part Numbering Overview
The RIO-47xxx has three distin t pa kaging types, the RIO-471xx, RIO-4720x, and RIO-47300. Ea h
pa kaging type has its “base” model where different variations (xx) and additional - Standard Options
(yyy) an be ordered. For instan e, a full part number would follow the format: RIO-47xxx-yyy, su h as
RIO-47122-422-HS. Note: multiple - Standard Options (yyy) an be ordered per RIO. Table 1.1 below
des ribes the RIO and its options. For in depth details regarding the - Standard Options (yyy), please see
the Ordering Options se tion in the Appendix.
For full part number information of the RIO produ t line, see the RIO part number generator:
http://www.galil. om/order/part-number-generator/rio-47xxx#RIO-47100
Chapter 1 Overview ▫ 5 RIO-47xxx Rev 1.0r

R I O - 4 7 1 x x - y y y
Base Model Features - yyy Standard Options
x x = 0 0 8 0-5V analog inputs
8 0-5V analog outputs
8 500mA sour ing optoisolated digital outputs
8 25mA sinking optoisolated digital outputs
16 optoisolated digital inputs
-422
-DIN
Additional Options Additional Features Additional – yyy Options
x x = 0 2 Base plus:
Expanded Memory
Base plus:
-RTC
-(4-20mA)
-HS
x x = 2 0 Base plus:
Analog I/O upgraded to ±10V onfigurable
Base plus:
-16Bit
x x = 2 2 Base plus:
Expanded Memory
Analog I/O upgraded to ±10V onfigurable
Base plus:
-16Bit
-RTC
-(4-20mA)
-HS
-PWM
-QUAD, -SSI, and -BiSS
x x = 4 2 Base plus:
Expanded Memory
Analog I/O upgraded to ±10V onfigurable
Dual Ethernet ports, no PoE
All 16 outputs upgraded to 500mA sour ing
Base plus:
-16Bit
-RTC
-(4-20mA)
-HS
-PWM
-QUAD, -SSI, and -BiSS
-12V option not available.
-2LSRC Option not available.
Chapter 1 Overview ▫ 6 RIO-47xxx Rev. 1.0r

R I O - 4 7 2 x x - y y y
Base Model Features - yyy Standard Options
x x = 0 0 S rew-terminal onne tors
Din-rail mount with metal over
No analog outputs by default
(Use – Y Y Y options to add Analog)
16 500mA sour ing optoisolated digital outputs
16 optoisolated digital inputs
-422
-NO DIN
-
-
Additional Options Additional Features Additional – yyy Options
x x = 0 2 Base plus:
Expanded Memory
Base plus:
-RTC
-HS
-(4-20mA)
-1LSNK/1LSRC & 2LSNK/2LSRC
-PWM
-(AI_10v12bit), (AI_10v16bit)
-(8AO_10v12bit),
(8AO_10v16bit),
(8AO_5v12bit)
-QUAD, -SSI, and -BiSS
Chapter 1 Overview ▫ 7 RIO-47xxx Rev 1.0r

R I O - 4 7 3 x x - y y y
Base Model Features - yyy Standard Options
x x = 0 0 S rew-terminal onne tors
Din-rail mount with metal over
8 ±10V onfigurable analog inputs
8 ±10V onfigurable analog outputs
24 500mA sour ing optoisolated digital outputs
24 optoisolated digital inputs
Expanded Memory
-422
-NO DIN
-16Bit
-HS
-(4-20mA)
-PWM
-RTC
-QUAD, -SSI, and -BiSS
-24ExIn & -24ExOut
Table 1.1: RIO-47xxx Part Number Features and yyy Standard Options
Standard vs. Expanded Memory
Feature Standard Expanded
Variable Range ± 2 billion ± 2 billion
Variable Resolution 1 x 10-4 1 x 10-4
# of array elements 400 1000
# of program lines 202 402
# of variables 126 254
# of labels 62 126
# of ontrol loops 2 6
# of Ethernet handles 3 5
Auto MDIX NO YES
10/100 Mbits/s 100 Mbit/s Standard
(10 Mbit/s with jumper added) Auto-negotiated
Real-time Clo k NO YES
(See -RTC for extra apabilities)
Max # of Burn Cy les 10000 10000
Table 1.2: Feature differences between Standard and Expanded Memory options
Chapter 1 Overview ▫ 8 RIO-47xxx Rev. 1.0r

RIO Functional Elements
Microcomputer Section
The main pro essing unit of the RIO is a spe ialized 32-bit Frees ale Mi ro omputer with 32KB SRAM and
256KB of Embedded Flash memory. The SRAM provides memory for variables, array elements and
appli ation programs. The flash memory provides non-volatile storage of variables, programs, and arrays;
it also ontains the RIO firmware. The RIO an pro ess individual Galil Commands in approximately 40
mi rose onds.
The RIO produ t line has a maximum of 10,000 write y les for burning (BN, BP, BV ombined).
Communication
The ommuni ation interfa e with the RIO onsists of one RS-232 port (default is 115 kBaud/s) and one
10/100Base-T Ethernet port (speed is jumper onfigurable with RIO-47xx0). The RIO-47142 and RIO-
47300 have an integrated swit h with dual Ethernet ports.
Status LEDs
There are four status LEDs on the RIO that indi ate operating and error onditions on the ontroller.
Figure 1.1 and Figure 1.2 shows a diagram of the LED bank followed by the des ription of the four lights
on the RIO-471xx (ex ept for the RIO-47142) and the RIO-472xx.
Figure 1.1: Diagram of LED bank on the RIO-471xx
Green Power LED (PWR) - The green status LED indi ates that the power has been applied
properly to the RIO.
Red Status/Error LED (ERR) - The red error LED will flash on briefly at power up. After the initial
power up ondition, the LED will illuminate for the following reasons:
1. The reset line on the ontroller is held low or is being affe ted by noise.
2. There is a failure on the ontroller and the pro essor is resetting itself.
3. There is a failure with the output IC that drives the error signal.
Green Link LED (LNK) – The green LED indi ates there is a valid Ethernet onne tion. This LED
will show that the physi al Ethernet layer (the able) is onne ted.
Activity (ACT) – The amber LED indi ates traffi a ross the Ethernet onne tion. This LED will
show both transmit and re eive a tivity a ross the onne tion.
Chapter 1 Overview ▫ 9 RIO-47xxx Rev 1.0r
Figure 1.2: Diagram of LED bank on RIO-
472xx

RIO-47142/RIO-47300 Status LEDs
There are two status LEDs on the RIO-47142 (PWR and ERR) that indi ate operating and error onditions
on The PWR and ERR des ription are identi al to that of the RIO produ ts listed above.
On the ea h Ethernet port there are two LEDs that indi ate the status of the port's Ethernet onne tion.
Green Link LED (LNK) – The green LED indi ates there is a valid Ethernet onne tion. This LED
will show that the physi al Ethernet layer (the able) is onne ted. This LED will also
blink to show both transmitted and re eived a tivity a ross the onne tion.
Orange LED (SPD) – The orange LED indi ates the speed of the Ethernet onne tion. It will be
illuminated for a 100bT onne tion, and will be off for a 10bT onne tion.
Chapter 1 Overview ▫ 10 RIO-47xxx Rev. 1.0r

Chapter 2 Getting Started
Layout
RIO-4710x and RIO-4712x
The me hani al layout and dimensions are the same for the RIO-4710x and RIO-4712x produ ts (RIO-
47100, RIO-47122 et ).
Figure 2.1: Outline of RIO-47100. Dimensions listed in the Appendix under: RIO Dimensions
Chapter 2 Getting Started ▫ 11 RIO-47xxx Rev 1.0r

RIO-47142
The RIO-47142 has similar me hani al dimensions to the RIO-4710x and RIO-4712x produ ts. The main
differen e is the dual Ethernet swit h integrated into the RIO.
RIO-4720x
Figure 2.3: Outline of RIO-4720x. Dimensions listed in the Appendix under: RIO Dimensions
Chapter 2 Getting Started ▫ 12 RIO-47xxx Rev. 1.0r
Figure 2.2: Outline of the RIO-47142. Dimensions listed in the Appendix under: RIO Dimensions

RIO-47300
Chapter 2 Getting Started ▫ 13 RIO-47xxx Rev 1.0r
Figure 2.4: Outline of the RIO-47300. Dimensions listed in the Appendix under: RIO Dimensions.

Installing the RIO Board
Installation of a omplete, operational RIO system onsists of 4 steps:
Step 1. Configure jumpers
Step 2. Conne t power to the RIO
Step 3. Install the ommuni ations software
Step 4. Establish ommuni ations between the RIO and the host PC
Step 1. Configure Jumpers
Power Input Jumpers (E T/AU vs PoE)
The RIO an be powered using either an external DC power input or a PoE (Power over Ethernet)
swit h to deliver power over the Ethernet able. By default, the RIO is expe ting the use of an
external power supply and four jumpers are pla ed on either the “EXT” or “AUX” pins depending on
the RIO model. If PoE is desired instead, move the four jumpers from the pins labeled “EXT/AUX” to
the pins labeled “PoE.” A full des ription of the “PoE” and “AUX/EXT” jumpers are in the Appendix
listed under Jumper Des riptions.
Not all RIO models have the PoE option. For more information PoE options and whi h DC power
supply is appropriate for your model, ontinue to Step 2. Conne t Power to the RIO.
Master Reset and Upgrade Jumper
The MRST jumper is for a master reset. When MRST is jumped, the RIO will perform a master reset
either when the board reset button is pressed or the ontroller is power y led. Whenever the I/O
board has a master reset, all parameters, programs, arrays, and variables stored in non-volatile
memory will be erased–this will set the RIO board back to factory defaults.
The UPGD jumper enables the user to un onditionally update the board firmware. This jumper is not
ne essary for firmware updates when the RIO board is operating normally, but may be ne essary in
ases of a orrupted non-volatile memory. non-volatile memory orruption should never o ur under
normal operating ir umstan es; however, orruption is possible if there is a power fault during a
firmware update.
If non-volatile memory orruption o urs, your board may not operate properly. In this ase, install
the UPGD jumper, onne t over RS232, and use the update firmware fun tion in the Galil software to
re-load the system firmware.
The lo ation for the jumpers are in the Appendix listed under Jumper Des riptions.
Setting the Baud Rate on the RIO
The default baud rate for the RIO is 115K (jumper OFF).
The jumper labeled “19.2,” allows the user to sele t the serial ommuni ation baud rate. The baud
rate an be set using the following table:
19.2 BAUD RATE
OFF 115k
ON 19.2k
The lo ation for the jumpers are in the Appendix listed under Jumper Des riptions.
Chapter 2 Getting Started ▫ 14 RIO-47xxx Rev. 1.0r

Step 2. Connect Power to the RIO
Most RIO models an be powered using either an auxiliary DC power supply or a PoE (Power over
Ethernet) swit h. These power options are sele ted by the user by pla ing four jumpers on either
the “PoE” or “EXT/AUX” labels. See Step 1. Configure Jumpers for a full des ription of these jumpers.
On e these jumpers are onfigured and power is properly applied based upon this sele tion, the
green PWR LED will turn on.
PoE onfigurations will allow the RIO to derive its power dire tly from the Ethernet able—no
additional onne tions are ne essary for powering. Any PoE style swit h an be used, su h as the
FS108P from Netgear.
In ontrast, the “EXT/AUX” onfiguration will allow the RIO to derive it's power from an auxiliary
power sour e either through a 2-pin Molex onne tor or designated s rew terminals (depending on
the model). The power supply used should be apable of delivering 4 Watts of power. For more
information on power spe ifi ations, see the Appendix for Power Requirements for EXT/AUX Power
Option.
Table 2.1 below depi ts the different power options, voltage requirements, and DC power onne tor
type. Note: Not all models have PoE apabilities as shown below.
Power Connection Options
Model Power over Ethernet
(Jumpers on PoE)
DC Power Input1
(Jumpers on E T/AU ) DC Power Connector Type
RIO-47100 YES 18-36 VDC 2-pin Molex 2
RIO-47102 YES 18-36 VDC 2-pin Molex 2
RIO-47120 YES 18-36 VDC 2-pin Molex 2
RIO-47122 YES 18-36 VDC 2-pin Molex 2
RIO-47142 NO 9-48 VDC 2-pin Molex 2
RIO-47200 YES 18-36 VDC S rew Terminals 3
RIO-47202 YES 18-36 VDC S rew Terminals 3
RIO-47300 NO 9-48 VDC S rew Terminals 3
Table 2.1: Power Connection Options
1Warning – Damage will occur of improper voltage is applied to the RIO. Do not supply voltages larger than the
indi ated maximum. See the Appendix for Power Requirements for EXT/AUX Power Option.
2The RIO uses Molex Pit h Mini-Fit, Jr.™ Re epta le Housing onne tors for onne ting DC Power. For more information
on the onne tors, go to http://www.molex. om/.
Note: The part number listed below is the onne tor found on the controller.
Molex Part Number Pin Part Number (x2) Type
39-31-0020 44476-3112 2 Position
3See the Appendix for your RIO PLC for the appropriate power pin-outs in the Conne tors for RIO-47xxx.
Step 3. Install the Communications Software
Install the Galil software that enables ommuni ation between the I/O board and your PC. It is
strongly re ommended to use the Galil software “GalilSuite” when ommuni ating to the RIO unit.
Please see the GalilSuite Manual for a omplete des ription of how to install and onne t to Serial or
Ethernet ontrollers.
Chapter 2 Getting Started ▫ 15 RIO-47xxx Rev 1.0r

http://www.galil. om/download/manual/galilsuite/galilsuite.pdf
Step 4. Establish Communications between RIO and the Host PC
Ethernet
For non-Auto MDIX RIO models1, onne t the RIO Ethernet port to your omputer via an Ethernet
rossover able, or to a network hub by a straight through Ethernet able. An IP address needs to be
assigned via a DHCP server, through Galil's software, or via a serial able using the IA ommand. See
Chapter 3 Communi ation for more information on how to establish an IP address. On e an IP
address is established, the user an ommuni ate to the ontroller either using GalilSuite's Terminal
or even a simple Windows Telnet session an onne t to the ontroller.
1Please refer to Table 3.1 for a full des ription of your RIO's Ethernet apabilities. Auto-MDIX RIO models an use either a
straight-through or ross-over able.
RS-232
To use serial ommuni ation, onne t a 9-pin straight-through RS-232 able (Part number: CABLE-9-
PIND) between the serial port of the RIO and the omputer or terminal ommuni ations port. The
omputer or terminal must be onfigured as des ribed in Table 2.2 below. Galil's ommuni ation
software is already onfigured for this, and thus, an unne essary step if using Galil software.
Port Setting Required RIO Configuration
Data Bits 8
Parity None
Start Bits 1
Stop Bits 1
Flow Control Hardware
Table 2.2: Required Port Settings to communicate to an RIO using RS232
Che k to insure that the baud rate jumpers (See Jumper Des riptions) have been set to the desired
baud rate as you're trying to onne t with. Also, the hardware handshake lines (RTS/CTS) need to be
onne ted.
At this point the user an onne t either using Galil software or a standard Windows HyperTerminal
session.
See Chapter 3 Communi ation for more information on ‘Handshake Modes.’
Sending Test Commands to the Terminal After a Successful Connection
After onne ting to a omputer or terminal, press < arriage return> or the <enter> key on the
keyboard. In response to arriage return {CR}, the ontroller responds with a olon, :
Now type
TZ {CR}
This ommand dire ts the RIO to return the urrent I/O status. The ontroller should respond with
something similar to the following:
:TZ
Blo k 0 (7-0) Inputs - value 255 (1111_1111)
Blo k 1 (15-8) Inputs - value 255 (1111_1111)
Blo k 0 (7-0) Outputs - value 0 (0000_0000)
Blo k 1 (15-8) Outputs - value 0 (0000_0000)
Chapter 2 Getting Started ▫ 16 RIO-47xxx Rev. 1.0r

Analog Inputs(7-0) 0.0000,0.0000,0.0000,0.0000,0.0037,0.0012,0.0000,0.0000
Analog Outputs(7-0) 0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000
RIO Web Server
The RIO has a built-in web server that an be a essed by typing the IP address of the ontroller into a
standard web browser. The ontroller omes from the fa tory without any IP address assigned so a
user must go through the steps outlined above to establish an IP address before the web-server is
a essible. Figure 2.5 shows an output of the RIO Web Server.
Figure 2.5: RIO Web Server Output
Chapter 2 Getting Started ▫ 17 RIO-47xxx Rev 1.0r

Chapter 3 Communication
Introduction
The RIO has one RS-232 port and one Ethernet port. The RIO is apable of 100bT or a 10bT Ethernet
onne tion. The RIO-47142 and RIO-47300 have dual port Ethernet swit hes.
RS232 Port
The RIO board has a single RS232 onne tion for sending and re eiving ommands from a PC or other
terminal. The pin-outs for the RS232 onne tion an be found in the Appendix - Power: J5, 2-pin
Molex.
RS-232 Configuration
Configure the PC for 8 data bits, no parity, one stop bit, and hardware handshaking as shown in Table
2.2. The baud rate for the RS232 ommuni ation defaults to 115k baud but an be set to 19.2k baud
by pla ing a jumper on J5. The serial port has a 4 bytes FIFO.
Handshaking Modes
The RS232 port is onfigured for hardware handshaking. In this mode, the RTS and CTS lines are
used. The CTS line will go high whenever the RIO is not ready to re eive additional hara ters. The
RTS line will inhibit the RIO board from sending additional hara ters.
Note: The RTS line goes high for inhibit. This handshake pro edure is required and ensures proper
ommuni ation espe ially at higher baud rates.
Ethernet Configuration
Communication Protocols
The Ethernet is a lo al area network through whi h information is transferred in units known as
pa kets. Communi ation proto ols are ne essary to di tate how these pa kets are sent and re eived.
Chapter 3 Communi ation ▫ 18 RIO-47xxx Rev. 1.0r

The RIO supports two industry standard proto ols, TCP/IP and UDP/IP. The board will automati ally
respond in the format in whi h it is onta ted upon onne tion.
TCP/IP is a " onne tion" proto ol. The master must be onne ted to the slave in order to begin
ommuni ating. Ea h pa ket sent is a knowledged when re eived. If no a knowledgment is
re eived, the information is assumed lost and is resent.
Unlike TCP/IP, UDP/IP does not require a " onne tion". This proto ol is similar to ommuni ating via
RS232. If a able is unplugged, the devi e sending the pa ket does not know that the information
was not re eived on the other side. Be ause the proto ol does not provide for lost information, the
sender must re-send the pa ket.
Galil re ommends using TCP/IP for standard ommuni ation to insure that if a pa ket is lost or
destroyed while in transit, it will be resent. However UDP is re ommended in ertain situations su h
as laun hing Data Re ord information to a host for graphing or data olle tion.
Ea h pa ket must be limited to 470 data bytes or less. This is not an issue when using Galil software
as the Galil Ethernet driver will take are of the low level ommuni ation requirements.
The IK ommand blo ks the ontroller from re eiving pa kets on Ethernet ports lower than 1000
ex ept for ports 0, 23, 25, 68, 80 and 502. To re eive pa kets on all ports, set IK to 0.
NOTE: In order not to lose information in transit, Galil re ommends that the user wait for an
a knowledgment of re eipt of a pa ket before sending the next pa ket.
Ethernet Capabilities by Model
Model Auto MDI Dual-Port 10/100 Mbits/s
RIO-47100 NO NO 100 Mbits standard, 10 Mbits w/jumper installed
RIO-47102 YES NO Auto-negotiate
RIO-47120 NO NO 100 Mbits standard, 10 Mbits w/jumper installed
RIO-47122 YES NO Auto-negotiate
RIO-47142 YES YES Auto-negotiate
RIO-47200 NO NO 100 Mbits standard, 10 Mbits w/jumper installed
RIO-47202 YES NO Auto-negotiate
RIO-47300 YES YES Auto-negotiate
Table 3.1: Ethernet Capabilities by RIO Part Number
Addressing
There are three levels of addresses that define Ethernet devi es. The first is the MAC or hardware
address. This is a unique and permanent 6 byte number. No other devi e will have the same MAC
address. The RIO MAC address is set by the fa tory and the last two bytes of the address are the
serial number of the board. To find the Ethernet MAC address for a RIO unit, use the TH ommand.
A sample is shown here with a unit that has a serial number of 3:
Sample MAC Ethernet Address: 00-50-4C-28-00-03
The se ond level of addressing is the IP address. This is a 32-bit (or 4 byte) number; an example of
su h is: 192.168.15.1. The IP address is onstrained by ea h lo al network and must be assigned
lo ally. Assigning an IP address to the RIO board an be done in 3 different ways.
1. The first method for setting the IP address is using a DHCP server. The DH ommand ontrols
whether the RIO board will get an IP address from the DHCP server. If the unit is set to DH1
(default) and there is a DHCP server on the network, the ontroller will be dynami ally
assigned an IP address from the server. Setting the board to DH0 will prevent the ontroller
from being assigned an IP address from the server.
Chapter 3 Communi ation ▫ 19 RIO-47xxx Rev 1.0r

2. The se ond method to assign an IP address is to use Galil Software. This pro edure will vary
depending on the software pa kage. Refer to the user manual for the different software
pa kages that support the RIO-47xxx.
3. The third method for setting an IP address is to send the IA ommand through the RS-232
port. (Note: The IA ommand is only valid if DH0 is set). The IP address may be entered as a
4 byte number delimited by ommas (industry standard uses periods) (e.g. IA
124,51,29,31). Type in BN to save the IP address to the RIO non-volatile memory.
Note: Galil strongly re ommends that the IP address sele ted is not one that an be a essed
a ross the Gateway. The Gateway is an appli ation that ontrols ommuni ation between an
internal network and the outside world.
Note: if multiple boards are on the network – use the serial numbers to differentiate them.
The third level of Ethernet addressing is the UDP or TCP port number. The Galil board does not
require a spe ifi port number. The port number is established by the lient or master ea h time it
onne ts to the RIO board. Typi al port numbers for appli ations are:
Port 23: Telnet
Port 502: Modbus
Port 80: HTTP
Email from the RIO
If the RIO is on a network with a SMTP Mail Server, the RIO is apable of sending an email message
using the MG ommand. There are three onfiguration ommands ne essary to send an email from
the RIO unit – MA, MS and MD. MA sets the smtp email server IP address. MS sets the email sour e or
“from” address and MD sets the destination or “to” address. There is a maximum hara ter limit for
the MS and MD ommands of 30 hara ters. An example of this is shown here:
MA 10,0,0,1; 'examp e SMTP Emai Server IP address
MD someone@examp e.com; 'samp e destination emai address
MS me@examp e.com; 'samp e source address
MG "Testing Emai "{M}; 'Message to send via Emai
Please onta t your system administrator for information regarding email settings.
Note: it is strongly re ommended that the email messaging frequen y is limited so as not to overload
the email server.
Communicating with Multiple Devices
The RIO is apable of supporting multiple masters or slaves. A typi al s enario would be onne ting a
PC (a master) and a motion ontroller (a 2nd master) that an both send ommands to the RIO board
over Ethernet on different handles.
Note: The term “master” is equivalent to the Internet “ lient” and the term “slave” is equivalent to
the Internet “server”.
An Ethernet handle is a ommuni ation resour e within a devi e. The RIO-47xx0 an have a
maximum of 3 Ethernet handles open at any time. This number is in reased to 5 Ethernet handles on
the RIO-47xx2 and RIO-47300. If all handles are in use and another devi e tries to onne t, it will be
sent a "reset pa ket" showing that the RIO annot establish any new onne tions.
NOTE: A reset will ause the Ethernet onne tion to be lost. There are a number of ways to reset the
board. Hardware resets (push reset button or power down RIO board) and software resets (through
Ethernet or RS232 by entering the RS ommand).
Chapter 3 Communi ation ▫ 20 RIO-47xxx Rev. 1.0r